a model for odometry sensor integrates velocities as measured with errors More...
#include <odometrymodel.h>
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OdometryModel (adore::sim::AFactory *sim_factory=adore::sim::SimFactoryInstance::get(), adore::params::AFactory *paramfactory=adore::params::ParamsFactoryInstance::get(), unsigned int seed=0) | |
double | nrand () |
virtual void | update () |
simulation step of the odometry estimate model More... | |
Private Attributes | |
double | last_time_ |
double | integration_step_ |
bool | last_time_valid_ |
adore::fun::VehicleMotionState9d | x_estimate_ |
bool | relative_to_map_ |
std::default_random_engine | generator_ |
std::normal_distribution< double > | distribution_ |
adore::mad::AReader< adore::fun::VehicleMotionState9d > * | vehicle_model_input_ |
adore::mad::AWriter< adore::fun::VehicleMotionState9d > * | odometry_estimate_output_ |
adore::mad::OdeRK4< double > | solver_ |
adore::mad::AFeed< adore::sim::ResetVehiclePose > * | reset_pose_feed_ |
adore::params::APOdometryModel * | params_ |
a model for odometry sensor integrates velocities as measured with errors
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simulation step of the odometry estimate model
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< reads "true" state from vehicle model
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< resets zero position (map origin) odometry based state estimation model parameters
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switch between map-relative odometry (default) and absolute odometry (debugging)
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< writes "estimate" for vehicle state
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last vehicle state estimate